% Copyright 2019 Google LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%     https://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function cm = ext_rad2cm(rad)

off = 0.0240;
l1 = 0.1036;
l2 = 0.216;

foot_pos = l1 + l2 + off;

cm = sqrt(l2^2-l1^2+(l1 * cos(rad))^2) - l1 * cos(rad);
cm = cm + off;
cm = cm - foot_pos;
end
